Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 38, Issue 1, Pages 40-72Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364918804660
Keywords
Computational guidance and control; convex programming; space robotics; on-orbit servicing; space debris
Categories
Funding
- NPS Spacecraft Robotics Lab
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An algorithm to guide the capture of a tumbling resident space object by a spacecraft equipped with a robotic manipulator is presented. A solution to the guidance problem is found by solving a collection of convex programming problems. As convex programming offers deterministic convergence properties, this algorithm is suitable for onboard implementation and real-time use. A set of hardware-in-the-loop experiments substantiates this claim. To cast the guidance problem as a collection of convex programming problems, the capture maneuver is divided into two simultaneously occurring sub-maneuvers: a system-wide translation and an internal re-configuration. These two sub-maneuvers are optimized in two consecutive steps. A sequential convex programming procedure, overcoming the presence of non-convex constraints and nonlinear dynamics, is used on both optimization steps. A proof of convergence is offered for the system-wide translation, while a set of structured heuristics-trust regions-is used for the optimization of the internal re-configuration sub-maneuver. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as supplementary material.
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